U.S. patent number 10,675,101 [Application Number 16/268,798] was granted by the patent office on 2020-06-09 for user interface for active drive apparatus with finite range of motion.
This patent grant is currently assigned to Auris Health, Inc.. The grantee listed for this patent is Auris Health, Inc.. Invention is credited to June Park, Sean Paul Walker.
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United States Patent |
10,675,101 |
Walker , et al. |
June 9, 2020 |
User interface for active drive apparatus with finite range of
motion
Abstract
A system may include a controller configured to determine a user
interface status, wherein the user interface status includes user
interaction of a user interface. The controller may also be
configured to determine a drive mechanism location relative to a
first limit and a second limit and select a clutching location
based on the user interface status and drive mechanism
location.
Inventors: |
Walker; Sean Paul (Fremont,
CA), Park; June (Palo Alto, CA) |
Applicant: |
Name |
City |
State |
Country |
Type |
Auris Health, Inc. |
Redwood City |
CA |
US |
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Assignee: |
Auris Health, Inc. (Redwood
City, CA)
|
Family
ID: |
51531448 |
Appl.
No.: |
16/268,798 |
Filed: |
February 6, 2019 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20190167361 A1 |
Jun 6, 2019 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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15054870 |
Feb 26, 2016 |
10206746 |
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13832895 |
Mar 15, 2016 |
9283046 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A61B
34/25 (20160201); A61B 34/30 (20160201); A61B
34/74 (20160201); G05B 15/02 (20130101); G05B
2219/39541 (20130101); G05B 2219/39439 (20130101); A61B
2034/302 (20160201); A61B 2034/301 (20160201) |
Current International
Class: |
G05B
15/00 (20060101); G05B 15/02 (20060101); A61B
34/30 (20160101); A61B 34/00 (20160101) |
Field of
Search: |
;700/275 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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1 800 593 |
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Jun 2007 |
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EP |
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2 158 834 |
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Mar 2010 |
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EP |
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WO 03/086190 |
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Oct 2003 |
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WO |
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WO 08/049088 |
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Apr 2008 |
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WO |
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WO 10/025522 |
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Mar 2010 |
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WO |
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Primary Examiner: Vu; Vu A
Attorney, Agent or Firm: Knobbe, Martens, Olson & Bear
LLP
Parent Case Text
This application is a Continuation of U.S. patent application Ser.
No. 15/054,870, filed Feb. 26, 2016, entitled "USER INTERFACE FOR
ACTIVE DRIVE APPARATUS WITH FINITE RANGE OF MOTION," which is a
Continuation of U.S. patent application Ser. No. 13/832,895, filed
Mar. 15, 2013, now U.S. Pat. No. 9,283,046, entitled "USER
INTERFACE FOR ACTIVE DRIVE APPARATUS WITH FINITE RANGE OF MOTION,"
the entireties of which are herein incorporated by reference.
Claims
What is claimed as new and desired to be protected by Letters
Patent of the United States is:
1. A system, comprising: a drive mechanism comprising a gripper
device configured to drive a medical instrument; a controller
configured to: determine a user interface status; determine a drive
mechanism location of the gripper device relative to a first limit
and a second limit; select a clutching location of the gripper
device based on the user interface status and the drive mechanism
location; and transmit an alert to a user interface device based on
the user interface status and the selected clutch location, wherein
the user interface device is configured to provide an indication of
the alert to a user, and wherein the alert comprises instructions
that cause the user interface device to provide haptic feedback
that is resistive.
2. The system of claim 1, wherein the alert comprises an indication
of when the medical instrument is re-gripped by the gripper
device.
3. The system of claim 1, wherein the alert comprises an indication
of the onset of the gripper device re-gripping the medical
instrument.
4. The system of claim 1, wherein the alert comprises an indication
that the gripper device is actively clutching the medical
instrument.
5. The system of claim 1, wherein the controller is configured to
transmit the alert to a user interface device, and wherein the user
interface device is further configured to provide an indication of
the alert to a user.
6. The system of claim 5, wherein the haptic feedback facilitates
preventing selection of the clutching location until the gripper
device has clutched the medical instrument.
7. The system of claim 5, wherein the haptic feedback facilitates
preventing selection of a clutching location while the gripper
device is actively clutching the medical instrument.
8. The system of claim 5, wherein the haptic feedback facilitates
preventing movement of the user interface device while the gripper
device is actively clutching the medical instrument.
9. The system of claim 1, wherein the alert comprises a first alert
indicative of clutching by the gripper device having started, and
wherein the controller is further configured to transmit a second
alert in response to the clutching by the gripper device being
completed.
10. The system of claim 1, wherein the alert comprises an
indication that the gripper device is nearing at least one of the
first or second limit.
11. The system of claim 10, wherein the indication comprises a
notification that the selection of the clutching location is
required.
12. The system of claim 10, wherein the haptic feedback is
configured to increase in intensity as the gripper device
approaches the at least one of the first or second limit.
13. The system of claim 10, wherein the haptic feedback is
configured to increase in intensity as the velocity of the gripper
device increases.
14. The system of claim 1, wherein the alert comprises instructions
that cause a user interface device to provide at least one of
haptic feedback, visual feedback, and audible feedback based on at
least one of the clutching location, the user interface status, and
the drive mechanism location.
15. The system of claim 1, wherein the alert comprises instructions
that cause a display of at least one of lights, pictures, and
animation on at least one of a display device and a user interface
device.
16. A method, comprising: determining a user interface status;
determining a drive mechanism location of a gripper device relative
to a first limit and a second limit, wherein the gripper device is
configured to drive a medical instrument; selecting a clutching
location of the gripper device based on the user interface status
and the drive mechanism location; transmitting an alert to a user
interface device based on the user interface status and the drive
mechanism location; and providing an indication of the alert via
the user interface device, wherein the indication includes haptic
feedback that is resistive.
17. The method of claim 16, wherein transmitting the alert
comprises transmitting an indication of when the medical instrument
is re-gripped by the gripper device.
18. The method of claim 16, wherein transmitting the alert
comprises transmitting an indication of the onset of the gripper
device re-gripping the medical device.
19. The method of claim 16, wherein transmitting the alert
comprises transmitting an indication that the gripper device is
actively clutching the medical device.
Description
BACKGROUND
Robotic surgical systems and devices are well suited for use in
performing minimally invasive medical procedures as opposed to
conventional techniques that require large incisions to permit the
surgeon's hands access into the patient's body cavity. Advances in
technology have led to significant changes in the field of medical
surgery such that minimally invasive surgeries (MIS) have become
increasingly popular.
As opposed to traditional open surgery, MIS may typically be
performed by entering the body through the skin, blood vessels,
gastrointestinal tract, or an anatomical opening utilizing small
incisions made on the patient's body. However, such procedures
(e.g., endovascular, laparoscopic, arthroscopic, coronary, etc.)
require manipulation and control over a variety of devices, ranging
from guidewires and microcatheters to balloons and stents.
In order to manipulate the medical instruments (e.g., a guidewire),
medical professionals have traditionally used devices which allow
the professional to apply a torque to a guidewire while inside the
patient's body. Torqueing the guidewire allows the medical
professional to change the spatial orientation of the tip of the
guidewire while maneuvering the patient's anatomy, e.g., to insert
or retract the guidewire, or to rotate the guidewire.
Due to the complexities of MIS procedures, for example robotically
controlled endovascular procedures, manipulation and control is
required over a variety of medical devices (e.g., guidewires,
stents, etc.). As a result, it is often challenging to advance or
retract a full variety of medical instruments required by robotic
surgical systems during medical procedures. Moreover, it is
difficult to continuously drive a guidewire in a discontinuous
system. Specifically, once the driver carrying the guidewire
reaches its physical limits or the end of its range of motion, the
guidewire may need to be released and then re-gripped or clutched
in order to further drive the guidewire into a patient. During such
clutching, the movement of the guidewire may be temporarily
restricted.
As such, there is a need for a system that may conveniently perform
clutching with minimal interruptions during the medical
procedure.
SUMMARY
A system may include a controller configured to determine a user
interface status, wherein the user interface status includes user
interaction of a user interface. The controller may also be
configured to determine a drive mechanism location relative to a
first limit and a second limit and select a clutching location
based on the user interface status and drive mechanism
location.
A method may include determining a user interface status, the user
interface status including a user interaction of a user interface,
determining a drive mechanism location relative to a first limit
and a second limit along a slave device; and determining whether to
clutch the slave device based on the user interface status and
drive mechanism location.
A non-transitory computer readable medium tangibly embodying
computer-executable instructions, include instructions for
determining a user interface status, the user interface status
including a user interaction of a user interface, determining a
drive mechanism location relative to a first limit and a second
limit along a slave device, and determining whether to clutch the
slave device based on the user interface status and drive mechanism
location.
BRIEF DESCRIPTION
FIG. 1 illustrates an exemplary robotically controlled surgical
system;
FIGS. 2A-2D illustrate exemplary user interfaces;
FIG. 3 illustrates an exemplary clutching system;
FIG. 4 illustrates an exemplary process for a constant velocity
signal;
FIG. 5 illustrates an exemplary relative position control
process;
FIG. 6 illustrates an exemplary relative position control process
where the drive mechanism mimics that of the user interface;
FIGS. 7A and 7B illustrate an exemplary dynamically changing
clutching system;
FIG. 8 illustrates an exemplary flow chart for the dynamically
changing clutching system;
FIG. 9 illustrates an exemplary hand proximity detection
process;
FIG. 10 illustrates an exemplary flow chart for the hand proximity
detection process;
FIG. 11 illustrates an exemplary flow chart of the processes of
FIGS. 3-10; and
FIG. 12 illustrates an exemplary display for showing the drive
mechanism and its range of motion.
DETAILED DESCRIPTION
FIG. 1 illustrates an exemplary robotically controlled surgical
system 100 in which an apparatus, a system, and/or method may be
implemented according to various exemplary illustrations. System
100 may include a robotic catheter assembly 102 having a robotic or
outer steerable complement, otherwise referred to as a sheath
instrument (generally referred to as "sheath" or "sheath
instrument") and/or an inner steerable component, otherwise
referred to as a robotic catheter or guide or catheter instrument
106 (generally referred to as "catheter 106" or "catheter
instrument 106"). The catheter instrument 106 may further include a
guide wire 108 extendable beyond a distal end of the catheter
instrument 106. Catheter assembly 102 is controllable using a
robotic instrument driver (generally referred to as "instrument
driver"). During use, a patient is positioned on an operating table
or surgical bed 112 (generally referred to as "operating table") to
which robotic instrument driver is coupled or mounted. In the
illustrated example, system 100 includes an operator workstation
114, an electronics rack 116 and associated bedside electronics box
(not shown), a setup joint mounting brace 118, and instrument
driver. A surgeon is seated at operator workstation 114 and can
monitor the surgical procedure, patient vitals, and control one or
more catheter devices.
System components may be coupled together via a plurality of cables
or other suitable connectors 120 to provide for data communication,
or one or more components may be equipped with wireless
communication components to reduce or eliminate cables 120.
Communication between components may also be implemented over a
wireless network or over the internet. In this manner, a surgeon or
other operator may control a surgical instrument while being
located away from or remotely from radiation sources, thereby
decreasing radiation exposure. Because of the option for wireless
or networked operation, the surgeon may even be located remotely
from the patient in a different room or building.
The operator workstation 114 may include a computer monitor
configured to display a three dimensional object, such as a
representation of the catheter instrument 106 and guide wire 108.
The catheter instrument 106 and guide wire 108 may be displayed
within or relative to a three dimensional space, such as a body
cavity or organ, e.g., a chamber of a patient's heart.
The operator workstation 114 may further provide for control of the
catheter 106 and guide wire 108. As one example, the operator
workstation 114 may include at least one user interface. The user
interface may include controls such as a joystick 122, a keyboard
124, input device 115 and/or a mouse 126. While specific examples
are described below with one of these interfaces, each interface,
although not explicitly described, may be applied to the various
examples. The workstation 114 may also include at least one display
136. The display may be configured to display various aspects of
the medical procedure to the surgeon. The display may be any type
of monitor, computer screen, television, etc.
The catheter 106 may be controlled using the user interface
allowing for steering of the distal tip of the guide catheter 106
as viewed on the computer monitor display, while the guide wire 108
may be controlled using the keyboard type input device 124. The
user interface may further include various sensors to detect the
position of user interface and to provide signals to the controller
130 that are interpreted as commands.
A variation of the user interfaces (e.g., joystick 122, mouse 126,
keyboard 124, input device 115 (shown in FIG. 2C.)) of FIG. 1 may
include controls for the sheath catheter and elongate member
manipulator. The keyboard type input device 124 may include bend,
insert and rotate controls to steer the sheath catheter, as well as
rotate and insert controls to control the elongate member
manipulator. In alternative variations, the distal tip of the guide
wire 108 may be controlled using the joystick 122 while the guide
and sheath catheters may be controlled by the keyboard type input
device 124.
The catheter assembly 102 may have the ability to infinitely insert
and/or roll a guidewire. The assembly 102 may include a drive
mechanism 104 configured to move the wire. This drive mechanism 104
may include at least one gripper 134 within a housing configured to
grip and move the wire. The housing may be configured to move along
a predefined axis at the catheter assembly 102 to drive or retract
the wire 108. The gripper 134 may be received by an instrument
driver. The instrument driver, however, may only be capable of
inserting/rolling for a finite range. Examples of this range are
shown in FIG. 3 and described further below. Due to the limited
range of motion, the gripper 134 may only be capable of driving the
wire 108 forward to a certain point until it must release, retract
and re-grip (i.e. clutch) the wire 108 before further driving
it.
Thus, to facilitate movement beyond a range of motion, i.e., an
"infinite" drive of a system having a finite range of motion, a
clutching mechanism may be used. The clutching mechanism may
include a stationary gripper configured to temporarily grab the
wire 108 to hold it steady while a main gripper releases the wire
108, resets itself, and re-grips the wire 108. However, during this
`clutching`, the user may experience a delay in response from the
guide wire 108. That is, the wire 108 may not drive or rotate
during this clutching. The clutching, may, therefore affect the
operation of the catheter system 102.
A controller 130 may be configured to optimize the clutching
mechanism within the system. For example, it may selectively clutch
upon determining that further drive is not necessary. It may also
determine an appropriate clutch location. That is, where along an
axis a system should clutch. Moreover, the user interface may be
configured to display to the user that clutching is occurring to
further indicate to the user that movement of the wire 108 may be
temporarily suspended.
The controller 130 may be in communication with a database 132. The
database may be configured to store rules associated with the
controller 130 and the user interfaces whereby the rules may be
applied to certain signals received from the controller 130. These
rules may be interpreted by the controller to determine when and
how far the drive mechanism should clutch the wire 108. Examples of
these rules may be discussed herein. The controller 130 may be
located within the workstation 114 or at the electronics rack 116.
The controller 130 may be a processor configured to receive data
from the user interface and the catheter assembly 102. This data
may be used to determine how, when and where the clutching
mechanism should clutch. This process is described in more detail
below.
FIG. 2A shows an exemplary joystick 122. The joystick 122 may
include a control member 202 configured to move about a pivot
point. The control member 202 may move radially about the pivot
point so as to move forward and backward along an axis at the pivot
point. As shown in FIG. 2A, the control member 202 may move between
a plurality of positions. For example, the control member 202 may
be in a normal position 220. The control member 202 may be in any
number of forward positions 222, 224 and backward positions 226,
228, as shown in phantom. The forward positions may 222, 224
include a full forward position 222 and a partial forward position
224. Similarly, the backward positions 226, 228 may include a full
backward 226 position and a partial backward position 228. The
control member 202 may engage any number of sensors within the
joystick 122. The engaged sensors may indicate to the controller
130 the position of the control member 202. This position
determines at least the drive of the wire 108. That is, if the
control member 202 is in a normal position 220, the wire 108 may be
stationary. If the control member 202 is in a partial forward
position 224, the wire 108 may be instructed to move forward at a
moderate speed. If the wire is at a full backward position 226, the
wire 108 may be instructed to move backward at an increased speed.
Additionally, velocity may be calculated by comparing a position of
the control member 202 at a first time with a position of the
control member 202 at a second time. Thus, the joystick 122 may be
configured to control the velocity of the wire 108. The joystick
122 may also control the side-to-side and vertical motion of wire
108.
FIG. 2B shows an exemplary mouse 126. The mouse 126 may be a
pointing device capable of driving and directing the wire 108. The
mouse 126 may move along a flat surface, such as a desk of the
workstation 114. It may include one or more buttons 240 and be
configured to detect at least two dimensional motion relative to
the flat surface. The mouse 126 may be used to control the drive of
the wire 108 in a one-to-one manner. That is, lateral movement of
the mouse 126 may correlate directly with lateral movement of the
wire 108. The mouse 126 may move along a line 210. The line 210 may
be an imaginary line depicting the lateral limits of the mouse 126.
For example, the length at which a mouse 126 may be pushed in one
direction may be limited by the amount of surface at a workstation
114. Further, the cord length of a mouse 126, or simply the
doctor's arm reach, may limit the length that a mouse 126 may move.
The mouse 126, as explained, may control the drive of the wire 108.
It may also control the velocity of the wire 108. Additionally, and
as discussed below, one of the buttons 240 included in the mouse
126 may also control the gripping/clutching of the drive mechanism
104.
FIG. 2C shows another exemplary input device that may be configured
to allow a surgeon to drive the wire 108. The input device 115 may
be configured to receive an input from the surgeon based on the way
the surgeon physically manipulates the position of the input device
115. As shown, the input device 115 provides the surgeon with
multiple degrees of freedom, each associated with a different
movement of the catheter assembly 102, so that the surgeon can
control the catheter assembly 102 as if the surgeon were
manipulating the position and orientation of the catheter assembly
102 directly.
The input device 115 may include a processor 135 configured to
interpret the input from the surgeon and generate and output
corresponding signals to the controller. For clarity, the processor
135 is shown outside the input device 115. In some possible
approaches, however, the processor 135 may be embedded in the input
device 115. The processor 135 may be configured to generate an
advance signal when the surgeon indicates a desire to push the
catheter assembly 102 into the patient's body. The processor 135
may be further configured to generate a retract signal when the
surgeon indicates a desire to pull at least a portion of the
catheter assembly 102 from the patient's body. Moreover, the
processor 135 may be configured to generate a rotate signal when
the surgeon indicates a desire to rotate the catheter assembly 102.
As discussed above, the surgeon desire for controlling the catheter
assembly 102 may be expressed through movement of the input device
115. The processor 135 may interpret these movements based on the
outputs of various sensors of the input device 115 and may send the
interpretation to the controller 130.
Thus, the user interface (joystick 122, the mouse 126 and/or input
device 115) may be used to drive the wire 108 in FIG. 3. Each may
control when the wire 108 is driven and retracted, as well as the
rate at which it does so. In some active drive systems, it may not
be possible to continually drive the wire 108. This may be due, at
least in part, to limits of the catheter assembly 102 and/or the
user interface. For example, the catheter assembly 102 may have a
limited length by which a gripper 134 of the assembly 102 may be
capable of driving the wire 108. These limits 302, 304 may be at
least partially due to the length of the instrument 106. Once the
driver of the instrument has reached the end of the assembly 102,
it cannot further drive the wire 108. The same is true for when the
driver of the assembly 102 has reached the opposite end and thus
cannot retract the wire 108 any further. Thus, in some active drive
systems, it may not be possible to continually move the wire 108 in
one direction. The instrument 106 may need to release the wire 108,
adjust one of the drivers and then re-grip the wire 108 to continue
to move the wire 108. That is, the instrument 106 may need to
re-grip the wire 108 at another position along the wire 108 in
order to continue driving the wire (i.e. perform clutching).
While the catheter assembly 102 may limit the range of continuous
wire drive, the user interface may also limit wire drive as well.
For example, line 210 may indicate the limits of a mouse 126. The
joystick 122 may also have limits in that it may only be pushed
forward or backward to an extent. Similarly, the input device 115
may also have a limited range of motion.
The wire may be selectively gripped by a gripper 134. As shown in
FIG. 1, two parallel grippers 134 may be used to frictionally
engage the wire 108. While one driver is gripping the wire 108,
another may be in an un-gripped, or released state. The grippers
134 may move along the catheter assembly 102 to drive the wire 108
into the patient. The grippers 134, although shown as including two
parallel grippers, may also include other mechanisms such as
sleeves configured to frictionally engage the wire 108 upon
clamping. Additionally or alternatively, washers and other
cylindrical holders may also be used.
FIG. 2D illustrates exemplary components of the input device 115
for manipulating the position and orientation of the catheter
assembly 102. As shown in FIG. 2, the input device 115 includes an
inner member 140 and an outer member 145. The inner member 140, as
illustrated, has a generally cylindrical shape that defines an axis
150. The outer member 145 is coaxially disposed on the inner member
140 and is configured to rotate about and move along the axis 150.
This movement of the outer member 145 relative to the inner member
140 may be detected and signals representing the movement may be
output to the processor 135 for the processor 135 to determine the
surgeon's desired operation of the catheter assembly 102.
Specifically, rotating the outer member 145 about the axis 150 may
indicate the surgeon's desire to rotate the catheter 120, the guide
wire 125, or both. Moving the outer member 145 along the axis 150
may indicate the surgeon's desire to advance (e.g., push) or
retract (e.g., pull) the catheter 120, the guide wire 125, or both
relative to the patient's body.
Described with respect to FIGS. 3-11 is a drive mechanism 104 for
controlling a wire 108. The drive mechanism 104 is facilitated by
coordinating the drive mechanism location, or grip location, of a
wire 108 with the user interaction at the user interface. The
controller 130 may facilitate when and where to perform re-gripping
based on detected user interaction at the user interface.
FIG. 3 shows exemplary gripper states and motion limits for the
drive mechanism 104. A wire 108 may be located between at least one
gripper 134. This gripper 134, as explained, may be located within
the driver housing of a catheter assembly 102. The housing may be
configured to move along a predefined axis at the catheter assembly
102 to drive or retract the wire 108. The gripper 134 may be in a
released state or a gripped state, as shown in FIG. 3. In a gripped
state, the gripper 134 may be stationary, but gripping the wire 108
at the drive mechanism location. The gripper 134 may also be
configured to grip and move the wire 108.
FIG. 3 also shows an active drive rear motion limit and an active
drive forward motion limit. These are referred to hereinafter as a
first limit 302 and a second limit 304. As explained, these limits
may correspond to physical limits 302, 304 defining a range of
motion of the catheter assembly 102.
FIG. 4 shows an exemplary process when receiving a constant
velocity signal. In this example, a constant drive signal may be
sent from the user interface (e.g., joystick 122.) That is, the
wire 108 may be instructed to drive (e.g., move forward) at a
constant velocity/speed. Due to the second limit 304, the gripper
134 may only be capable of driving the wire 108 forward to a
certain point until it must release, retract and re-grip (i.e.
clutch) the wire 108 before further driving it.
Beginning at index (A), the gripper 134 is gripped at a central
position between the first and second limits 302, 304. The joystick
122 is in the normal position 220, (e.g., stationary position.) At
index (B), the joystick 122 may be pushed into one of the forward
positions 222, 224. In response, the gripper 134 may push the wire
108 forward until the gripper 134 reaches the second limit 304. At
this limit 304, the gripper 134 may no longer push forward. The
gripper 134 then releases the wire 108 at index (C) and moves
backwards to the first limit 302 at index (D). Thus, at index (D)
the gripper 134 is configured to clutch the wire 108 in order to
continue the wire drive. At index (E) the gripper 134 re-grips the
wire 108 and begins to push the wire 108 forward at index (F). At
index (G) the gripper 134 has once again reached its limit and must
once again re-clutch in order to continue to drive the wire
108.
FIG. 5 shows an exemplary relative position control process. While
the figures may depict a mouse-like icon, the joystick 122 and
input device 115 may also be applied in the various situations. In
this example, a surgeon may use a user interface to continually
drive a wire 108. The user interface, such as the mouse 126, may
include a push-button 240. The push button 240 may be used by the
surgeon to initiate the drive. However, the depression of the
button 240 may not necessarily correlate with the gripping of the
gripper 134. That is, the gripper 134 does not necessarily mimic
the button 240.
At index (A) the button 240 of the mouse 126 may not be depressed
but the gripper 134 may be in a gripped state in a central
location. At index (B) the surgeon may depress the button 240 and
begin to move the mouse 126 forward. At index (C) the surgeon may
continue to push the mouse 126 forward. However, the gripper 134
may reach the second limit 304. At index (D) the gripper 134 may
release and at index (E) the gripper 134 may clutch at the first
limit 302. At index (F) the gripper 134 may grip the wire 108 and
at index (G) the gripper 134 may resume pushing the wire 108
forward. This may lead to a frustrating driving experience because
the mechanism is not truly following the user intent.
FIG. 6 shows an exemplary relative position control process where
the drive mechanism 104 mimics that of the user interface. For
example, when the button 240 of the mouse 126 is depressed, the
gripper 134 is in a gripped state. At index (A) the button 240 of
the mouse 126 may be released and the gripper may also be in a
released state. At index (B) the surgeon may move the mouse 126
forward and the gripper 134 may also be moved forward while in the
released state. At index (C) the button 240 may be depressed and
the gripper 134 may grip the wire 108. At index (D) the surgeon may
move the mouse 126 backwards while depressing the button 240 and
the gripper 134 may in turn move the wire 108 backwards. At index
(E) the surgeon may release the button 240 and the gripper 134 may
also be released. At indexes (F) and (G), similar to index (B) and
(C), the mouse 126 may be moved forward and the gripper 134 may be
in a released state until the button 240 is depressed. Thus, FIG. 6
shows a drive mechanism 104 configured to mimic the input device
clutching. In this example, the first limit 302 and second limit
304 may correspond to both the user input constraints and the
catheter assembly 102 constraints. That is, the line 210 may
correspond to the length of the catheter assembly 102. With this
approach, the user is not aware of the discontinuous nature of the
drive system. The drive system in fact appears as a continuous
drive system to the user because the drive system does not need to
clutch within the range of motion of the input device.
FIGS. 7A and 7B show a dynamically changing clutching system. That
is, the clutching location and timing thereof may be determined
based on the user input at the user interface, such as the joystick
122.
FIG. 7A shows an exemplary control process for a dynamically
changing clutch system when the joystick 122 is in a partial
forward position 224. At index (A) the joystick 122 may be in a
normal position and the gripper 134 may be gripped in a central
location. At index (B) the control member 202 of the joystick 122
may move into a partial forward position 224 instructing the
gripper 134 to drive the wire 108 forward. At index (C) the gripper
134 may reach the second limit 304 and release the wire 108. At
index (D) the joystick 122 may still be in a partial forward
position 224 and the gripper 134 may move backward to the central
location. At index (E) the gripper 134 may re-grip the wire 180 and
at index (F) the gripper 134 may continue to push the wire 108
forward.
FIG. 7B shows an exemplary control process for a dynamically
changing clutch system when the joystick 122 is in a full forward
position 222. At index (A) the joystick 122 may be in a normal
position 220 and the gripper 134 may be gripped in a central
position. At index (B) the control member 202 of the joystick 122
may move into a full forward position 222 instructing the gripper
134 to drive the wire 108 forward. At index (C) the gripper 134 may
reach the second limit 304 and release the wire 108. At index (D)
the joystick 122 may still be in a full forward position 222 and
the gripper 134 may move backward to the first limit 302. At index
(E) the gripper 134 may re-grip the wire 180 and at index (F) the
gripper 134 may continue to push the wire 108 forward.
Thus, based on the position of the control member 202 of the
joystick 122, the gripper 134 may be configured to clutch
differently. For example, when a wire 108 is moving slowly forward
based on the partial forward position 224 of the control member 202
the gripper 134 may clutch at the central location. This may be to
allow the wire 108 to retract at a given moment without a need for
the gripper 134 to re-clutch. That is, because the wire 108 is
moving slowly, it may be likely that the surgeon may wish to change
the direction of motion of the wire 108, e.g., from insertion to
retraction, or vice versa. Accordingly, the gripper 134 may clutch
at the central location as shown at index (D) to allow for this
flexibility. On the other hand, if a wire 108 is moving at a faster
velocity, as controlled by a full forward position 222 of the
control member 202, it may be less likely that the surgeon will
wish to suddenly change the direction of the wire 108, and more
likely that the surgeon will continue to command movement in the
same direction. Thus, the gripper 134 may clutch at the first limit
302, allowing the gripper 134 to move the wire 108 along the entire
range of motion of the gripper 134 before needing to re-clutch.
Thus, based on the user interaction of the user interface, the
drive mechanism 104 may dynamically determine where to clutch the
wire 108.
While the above examples are described with respect to the position
of the control member 202, other mechanisms may be used to
determine the desired velocity of the wire 108. The velocity of the
wire 108 may correspond to the velocity at which the user interface
is moved. For example, the speed at which the control member 202 is
moved may correlate to the desired speed of the wire 108. Further,
the difference between a first position of the mouse and a second
position of the mouse may be used to calculate the velocity of the
movement.
FIG. 8 is an exemplary flow chart showing the dynamic clutching
process 800, as described above with respect to FIGS. 7A and 7B.
The process begins at step 802. At step 802 a desired velocity of
the wire 108 may be determined by the controller 130. As explained
above, this may be determined based on a digital position of the
user interface (e.g., position of the control member 202) and/or
based on a difference of two positions of the user interface.
At block 804, the controller 130 may determine whether or not the
gripper 134 has reached one of the first or second limits 302, 304
(e.g., as shown in index (B) of FIGS. 7A and 7B.) Additionally or
alternatively, in determining whether or not the gripper 134 has
reached on of the first or second limits 302, 304, the controller
130 may determine whether the gripper 134 has come within a
predetermined distance of the limits 302, 304. That is, if the
gripper 134 is close to one of the limits 302, 304, it may be
practical for the gripper 134 to clutch and not necessarily wait
until the exact limit is reached. For example, a predefined range
may be established within the controller 130. If the gripper 134
comes within that predefined range, the gripper 134 may release the
wire, move to accommodate further motion of the wire, and re-clutch
the wire. Additionally, this predefined range may be based on the
determined velocity of the wire or the position of the user
interface. For example, if the gripper 134 enters the range and is
travelling at a high velocity, the gripper 134 may be instructed by
the controller 130 to clutch prior to it reaching the limit 302,
304. If the gripper 134 has reached one of the limits 302, 304, the
gripper 134 may need to clutch in order to continue to move the
wire 108 in the desired direction. Once the gripper 134 has reached
one of the limits 302, 304, the process proceeds to block 806.
At block 806, the controller 130 may determine a clutch location.
That is, the controller 130 may instruct the gripper 134 to un-grip
the wire 108 and move to a predefined location along catheter
assembly 102. Determining the predefined location may be based on
the velocity at which the catheter is moving. For example, if the
control member 202 of the joystick 122 is in the full forward
position 222, the wire 108 may be moving at a relatively high
velocity when it reaches one of the limits 302, 304 and the gripper
134 may move and clutch the wire 108 at the opposite limit.
Alternatively, if the joystick 122 is in the partial forward
position 224, the gripper 134 may clutch the wire 108 at the
central location.
Additionally or alternatively, other factors may be used to
determine when and in what position to clutch the wire. In one
example, user defined preferences may be used. That is, the
controller 130 may receive from the surgeon a preference to be
applied when adjusting the wire. The surgeon, in one example, may
prefer to have an aggressive clutching system. In another procedure
the surgeon may whish to have a less aggressive clutching system in
that clutching may make reversal easier (e.g., clutch to the
central location instead of one of the limits).
In another exemplary configuration, the controller 130 may save a
surgeons' motions in the database 132. These previously made
motions may be used to predict what type of clutching to perform in
future procedures. In one example, the controller may save the
distance at which a wire traveled before being reversed. Thus, in
future procedures, once a distance similar to the saved distance is
reached, the system may prepare to clutch based on the previous
motions of the surgeon.
The disclosed clutching mechanisms may also be applied to
rotational ranges of motion. For example, the grippers 134 may be
configured to apply a rotational motion to the wire 108. This
motion may be facilitated by moving the parallel grippers 134 in
opposite directions from each other. These grippers 134 may only
laterally move to an extent before having to be re-adjusted in
order to continue to `roll` the wire 108. Because the user
interfaces may also control the rotational movement of the wire
108, the controller 130 may also be configured to efficiently
re-adjust the grippers so as to minimally affect the procedure.
That is, while the wire 108 is being rotate at a high rotational
velocity, the grippers may re-adjust to their full potential. On
the other hand, if the rotational velocity is low, and there is a
potential for the wire 108 to reverse rotational direction, the
gripper 134 may be readjusted to a central location.
The process may then end.
FIGS. 9 and 10 show exemplary hand proximity detection process
1000. In this process 1000, the controller 130 may instruct the
drive mechanism 104 to clutch based on proximity of a surgeon's
hand to the user interface. The controller 130 may use the
proximity of the surgeon's hand to determine whether the user
interface is in an active state or inactive state. At index (A) a
gripper may be in the grip state and the user interface may be in
an inactive state. At index (B) a surgeon's hand may approach the
user interface and at index (C) the surgeon may push the user
interface thus driving the wire 108 forward via the gripper 134. At
index (D), the gripper 134 may remain in the gripped state and the
user interface may remain in an active state until the surgeon's
hand is removed from the user interface. At index (E), because the
surgeon's hand has been removed, the user interface is inactive and
the gripper 134 is configured to clutch at a predefined
location.
The user interface may determine if a hand is in close proximity to
it by several mechanisms. In one example, the user interface may
include a biometric sensor. This sensor may include a heat sensor
configured to detect the air temperature surrounding the user
interface. Upon an increase in temperature, the controller 130 may
determine that a surgeon's hand is in close proximity to the user
interface. The biometric sensor may also include technologies such
as resistive touchscreen panels, surface acoustic wave
touchscreens, capacitive sensors, infrared LED and photodetectors,
etc.
Additionally or alternatively, the proximity of the surgeon's hand
may also be determined based on the last known contact with the
user interface. After a predefined amount of time with no input
from the user at the user interface (e.g. no movement of the
interface or depression of the buttons 240), the controller 130 may
determine that the surgeon has stepped away or at least that the
surgeon has temporarily paused the procedure, thus opening a window
of opportunity for the gripper 134 to clutch.
FIG. 10 shows an exemplary process 1000 beginning at block 1002. At
block 1002 the controller 130 determines whether the gripper 134
has reached one of the limits 302, 304. If so the process proceeds
to block 1004.
In block 1004 the controller 130 may determine whether input has
ceased at the user interface. This may be determined based on the
reading from the biometric sensor. Additionally or alternatively
the status may be determined by the amount of input from the
surgeon at the user interface. If input has ceased at the user
interface, the process may proceed to block 1006. If not, it may
return to block 1002.
At block 1006 the controller 130 may instruct the gripper 134 to
clutch based on the absence of user interaction with the user
interface.
The process may then end.
FIG. 11 shows an exemplary flow chart for a system 1100 for
determining when to clutch or re-grip a wire 108 based on user
input at the user interface. The process 1100 begins at block 1102.
At block 1102 the controller 130 determines the user interface
status based on signals from the user interface. The user interface
status may include a position of the user interface (e.g., the
position of the control member 202 or the location of the mouse 126
along line 210). The status may also include the velocity of the
user interface (e.g., the rate at which the control member 202 or
the mouse 126 is moved). The user interface status may also include
the proximity of the surgeons' hand to the user interface (e.g.,
active, inactive.) The status may be determined by any of the above
described mechanisms, or any combination thereof. Once the status
is determined, the process proceeds to block 1104.
At block 1104 the location of the gripper 134 is determined. That
is, the location of the gripper 134 between the limits 302, 304 may
be determined.
At block 1106 the controller 130 may determine, based on the user
interface status and the gripper location, the projected clutch
timing and location. For example, if the user interface status is
`active` (e.g., a surgeons hand is engaging the user interface),
and the gripper location has not yet reached a limit 302, 304, the
controller 130 may determine that there is no need to clutch at
this time. Alternatively, if the gripper location has reached a
limit 302, 304, the controller 130 may instruct the gripper 134 to
be released and repositioned so that the wire drive may continue.
At this time, if the surgeon is still attempting to drive the wire
108, the user interface may indicate to the user, via the user
interface or other mechanism, that the wire 108 is clutching.
In another example, as described above, upon determining that the
wire 108 must be clutched, the location of the gripper 134 may be
determined by the controller 130. That is, how far back or forward
the gripper 134 may move before re-gripping the wire 108 may be
determined, at least in part, based on the user interface status.
For example, if the control member 202 of the joystick 122 is in
the full forward position 222, the gripper 134 may be re-gripped at
the first limit 302. Alternatively, if the joystick 122 is in one
of the partial forward or backward positions 224, 228, the gripper
134 may be re-gripped at the central location.
In addition to determining when and where to clutch a wire 108 in a
catheter assembly 102, the controller 130 may also be configured to
instruct the user interface to inform the user/surgeon that the
wire 108 is to be re-gripped. By indicating to the surgeon when a
wire 108 will clutch, the surgeon is not surprised when the motion
of the wire 108 is temporarily interrupted while the gripper 134
re-grips the wire 108. In one example, a feedback mechanism may be
used to inform the user that the wire 108 is clutching. Merely by
way of example, a haptic or tactile feedback, visual feedback, or
audible feedback may be used to indicate that the gripper 134 is in
the process of re-gripping the wire 108, or about to do so. As one
example of a haptic feedback, the user interface may be prevented
from moving when the wire 108 is clutching. In this example, some
form of resistive mechanism may be located within the user
interface and configured to receive a signal from the controller
130 to cease movement until the wire 108 clutches. In the example
of the joystick 122 and/or input device 115, at least one solenoid
may be arranged around the control member 202 of the joystick 122
and may be activated to hold the member 202 in place during
clutching. Additionally or alternatively, as explained above, the
joystick 122 may have a button (not shown). In order to resume
movement of the control member 202, the button may be depressed by
the surgeon to trigger the clutching. Thus, the button depression
and the clutching may be synchronized. The control member 202 may
be held in place until the joystick 122 instructs the wire 108 to
clutch. As other examples, a warning light or audible alarm may
sound in place of or in addition to haptic feedback to indicate
re-gripping or the onset of re-gripping by the grippers 134.
A mouse 126 may also be capable of resisting further movement if
clutching is required. For example, once the mouse 126 is at the
end of line 210, the gripper 134 may also be nearing the second
limit 304. If the button 240 of the mouse 126 is being depressed,
the surgeon may release the button 240 and reposition the mouse 126
along the line 210. That is, the surgeon may release the button 240
and move the mouse 126 back in order to allow for more room on the
table to move the mouse 126 forward again, thus allowing the wire
108 to be further driven.
Similarly, the input device 115 may also be capable of resisting
further movement if clutching is required. In this example, the
range of motion of the input device 115 may mimic that of the
catheter assembly 102. Once the device 115 has reached its range of
motion, the gripper 134 may also be nearing a limit 302, 304.
Similar to the mouse, if a button of the input device is depressed,
the surgeon may release the button and reposition the input device
115. Similar processes may be used with the joystick 122. For
example, when the control member 202 of the joystick 122 is pushed
to the full forward position 222, the control member 202 may be
brought back to the center position 220 in order to further drive
the wire 180 forward further.
By providing a warning, e.g., haptic resistance at the user
interface, the surgeon may actively re-adjust and re-grip the wire
108 at an appropriate location. Such mechanisms may be
advantageous, especially when the limits at the user interface and
the catheter assembly 102 are similarly aligned. Haptic feedback
may be particularly advantageous since it may allow the surgeon to
receive feedback while still focusing visually and/or audibly on
other aspects of the procedure.
In another example, the surgeon may not be required to actively
initiate the clutching, but may simply be alerted to the fact that
clutching is to occur. These cues may include any combination of
visual, tactile, and audible cues. For example, an impulse or
vibration may be felt at the user interface during clutching. The
surgeon may also experience resistance at the user interface (e.g.,
control member 202 will become stiff and un-movable, etc.) The
resistance may be removed when the clutching is complete.
Additionally or alternatively, a second cue may indicate that
clutching is complete. For example, a first vibration may indicate
clutching has started and a second vibration indicates that
clutching has been completed.
The surgeon may also be alerted when the wire 108 is approaching a
limit 302, 304. In one example, the stiffness of the control member
202 may increase as the gripper approaches a limit 302, 304. The
controller 130 may also be configured to take the velocity of the
drive into consideration when applying any form of resistance to
the user interface. That is, the faster the gripper 134 approaches
the limit 302, 304, the faster the resistance at the user interface
increases.
Visual cues may also be used, such as pulsating lights, pictures or
animations of the wire 108 as it clutches. These displays may be
part of the workstation 114. For example, cues may be displayed on
the displays 136. These visual forms may allow the surgeon to
understand the limits 302, 304 of the gripper 134 and adjust his or
her procedures in view of the same.
An exemplary interface is shown in FIG. 12. In FIG. 12, the
relationship of the ranges of motion of the user interface (e.g.,
the master device) and the wire 108 (e.g., the slave device) may be
depicted. The current location of the drive mechanism 104 (i.e.
gripper 134) may also be depicted to indicate the remaining range
of motion on either end of the slave device (e.g., between the
first and second limits 302, 304.) By allowing the surgeon to
visualize the limits 302, 304 and the current gripping location,
the surgeon may understand when to expect clutching to occur and
plan accordingly.
Accordingly, it is to be understood that the above description is
intended to be illustrative and not restrictive. Many embodiments
and applications other than the examples provided would be apparent
upon reading the above description. The scope should be determined,
not with reference to the above description, but should instead be
determined with reference to the appended claims, along with the
full scope of equivalents to which such claims are entitled. It is
anticipated and intended that future developments will occur in the
technologies discussed herein, and that the disclosed systems and
methods will be incorporated into such future embodiments. In sum,
it should be understood that the application is capable of
modification and variation.
All terms used in the claims are intended to be given their
broadest reasonable constructions and their ordinary meanings as
understood by those knowledgeable in the technologies described
herein unless an explicit indication to the contrary in made
herein. In particular, use of the singular articles such as "a,"
"the," "said," etc. should be read to recite one or more of the
indicated elements unless a claim recites an explicit limitation to
the contrary.
In general, computing systems and/or devices such as such as the
controllers, biometric devices, displays telematics functions,
etc., may employ any of a number of computer operating systems,
including, but by no means limited to, versions and/or varieties of
the Microsoft Windows.RTM. operating system, the Unix operating
system (e.g., the Solaris.RTM. operating system distributed by
Oracle Corporation of Redwood Shores, Calif.), the AIX UNIX
operating system distributed by International Business Machines of
Armonk, N.Y., the Linux operating system, the Mac OS X and iOS
operating systems distributed by Apple Inc. of Cupertino, Calif.,
the BlackBerry OS distributed by Research In Motion of Waterloo,
Canada, and the Android operating system developed by the Open
Handset Alliance.
Computing devices, such as the controllers, biometric devices,
displays telematics functions, etc., may generally include
computer-executable instructions that may be executable by one or
more processors. Computer-executable instructions may be compiled
or interpreted from computer programs created using a variety of
programming languages and/or technologies, including, without
limitation, and either alone or in combination, Java.TM., C, C++,
Visual Basic, Java Script, Perl, etc. In general, a processor or
microprocessor receives instructions, e.g., from a memory or a
computer-readable medium, etc., and executes these instructions,
thereby performing one or more processes, including one or more of
the processes described herein. Such instructions and other data
may be stored and transmitted using a variety of computer-readable
media.
A computer-readable medium (also referred to as a
processor-readable medium) includes any non-transitory (e.g.,
tangible) medium that participates in providing data (e.g.,
instructions) that may be read by a computer (e.g., by a processor
of a computing device). Such a medium may take many forms,
including, but not limited to, non-volatile media and volatile
media. Non-volatile media may include, for example, optical or
magnetic disks and other persistent memory. Volatile media may
include, for example, dynamic random access memory (DRAM), which
typically constitutes a main memory. Such instructions may be
transmitted by one or more transmission media, including coaxial
cables, copper wire and fiber optics, including the wires that
comprise a system bus coupled to a processor of a computer. Common
forms of computer-readable media include, for example, a floppy
disk, a flexible disk, hard disk, magnetic tape, any other magnetic
medium, a CD-ROM, DVD, any other optical medium, punch cards, paper
tape, any other physical medium with patterns of holes, a RAM, a
PROM, an EPROM, a FLASH-EEPROM, any other memory chip or cartridge,
or any other medium from which a computer can read.
Databases, data repositories or other data stores described herein
may include various kinds of mechanisms for storing, accessing, and
retrieving various kinds of data, including a hierarchical
database, a set of files in a file system, an application database
in a proprietary format, a relational database management system
(RDBMS), etc. Each such data store is generally included within a
computing device employing a computer operating system such as one
of those mentioned above, and are accessed via a network in any one
or more of a variety of manners. A file system may be accessible
from a computer operating system, and may include files stored in
various formats. An RDBMS generally employs the Structured Query
Language (SQL) in addition to a language for creating, storing,
editing, and executing stored procedures, such as the PL/SQL
language mentioned above.
In some examples, system elements may be implemented as
computer-readable instructions on one or more computing devices,
stored on computer readable media associated therewith. A computer
program product may comprise such instructions stored on computer
readable media for carrying out the functions described herein. In
some examples, the application software products may be provided as
software that when executed by processors of the devices and
servers provides the operations described herein. Alternatively,
the application software product may be provided as hardware or
firmware, or combinations of software, hardware and/or
firmware.
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